Title :
Inverse dynamics of star parallel manipulator
Author :
Staicu, Stefan ; Staicu, Laurian ; Rugescu, Radu
Author_Institution :
Dept. of Mech., Politehnica Univ. of Bucharest, Romania
Abstract :
Recursive matrix relations for kinematics and dynamics of a Herve´s star parallel manipulator are established in this paper. The prototype of this robot is a three-degree of freedom spatial mechanism, which consists of a system of parallel kinematical chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using a new matrix approach. Finally, some iterative matrix relations and some graphs for the torques and the powers of the three active couples are determined.
Keywords :
graph theory; inverse problems; iterative methods; manipulator dynamics; manipulator kinematics; matrix algebra; recursive estimation; graph theory; inverse dynamics; iterative matrix relations; manipulator dynamics; manipulator kinematics; parallel kinematical chains; recursive matrix; spatial mechanism; star parallel manipulator; three degrees of freedom; Acceleration; Bars; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Parallel robots; Prototypes; Service robots; Topology;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387233
